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I. INTRODUCTION
SV (s) +
Q Filter
Gain
Kc
Q(s)
+
SV filter
~
G (s )
Model
Main Controller
Fig. 1.
n
Process
+ +
P(s)
F(s)
v
PD
feedback
Local loop
(1)
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G(s)
=
exp(Lc s)
1 + Tc s
(2)
(1 + Tc s)(1 + Tc s)
(1 + Tc s)2
P(s)1
+K f T f3 2 (1 )s3
(1 + T s)exp(Ls)
K
SV (s) =
1 + Tc s
1 + Tc s
(5)
B. PD FEEDBACK DESIGN
If the process P(s) has a dead time, then the PD loop
G(s) expressed as in (6) has infinite number of poles mathematically. However, as described before, the G(s) should be
designed to be a first order delay system with dead time in
(7) as in Fig.2. Where K,T and L are gain, time constant and
dead time representing the PD local loop.
G(s) =
G(s)
=
P(s)
1 + F(s)P(s)
(6)
Kexp(Ls)
1+Ts
(7)
P(s)
Kexp(-Ls)
1 + Ts
(10)
1 T +L
T L + L2 /2 2
+
s+
s
K
K
K
2
3
T L /2 + L /6 3
+
s +
(11)
K
=
p0 + K f
(12)
T +L
(13)
= p1 + K f T f (1 )
K
T L + L2 /2
= p2 K f T f2 (1 )
(14)
K
T L2 /2 + L3 /6
(15)
= p3 + K f T f3 (1 ) 2
K
T L3 /6 + L4 /24
= p4 K f T f4 (1 ) 3
(16)
K
By solving these equations of (12) (16), optimal PD
feedback parameters K f , T f and the first order delay system
with dead time K, T and L can be obtained.
Remark: This approach does not work for processes with too
long dead time. However, these processes are very minor
in real industrial processes. So the approeach can be used
practically for real industrial processes.
Comparison
of Responses
F(s)
(9)
1
K
(4)
p0 + p1 s + p2 s2 + p3 s3 + p4 s4 +
(8)
F(s) = K f + K f T f (1 )s K f T f2 (1 )s2
(3)
1 + Tf s
F(s) = K f
1 + Tf s
(1 + T s)exp(Ls)
K
y f
Fig. 2. A PD feedback loop and the equivalent first order delay system
with dead time
Various design methods can be considered, such as, a determining method from the step response and the simulation,
model reduction method in low frequency region, a partial
model matching method [6], [7] by Kitamori and so on.
Denominator of (6) and (7) can be expressed as (8).
By substituting (9),(10) and (11) in Taylor expansion forms
into (8) and matching the low-order coefficients at powers
y =
exp(Ls)
r
1+Ts
(1 + T s)exp(Ls)
Kexp(Ls)
+
(1
)d (18)
1+Ts
(1 + T s)2
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=1
=1
= 1.5
SV
= 0.5
1
e 10s
1 + 5s
P(s) =
=1
Fig. 5.
= 1.5
DV
= 0.5
=1
1
TI s
Kc
u+
P(s)
TD s
1 + TD s
=1
= 1 .75
Fig. 6.
=3
P (s ) =
DV
=1
1
e 10 s
1 + 5s
= 1 .75
=3
= 1 (1 )2 exp(Lc /Tc )
(19)
D. Features
Due to well-designed PD local loop,the MD-PID control
system can be applicable for not only long dead time
processes, but also integral processes, oscillatory processes,
small dead-time processes and even unstable processes.
The and the of the MD-PID controller play a role of an
on-line tuning parameters without re-design.
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(1 + Tc s)(1 + Tc s)
(1 + Tc s)2 (1 + Tc s)exp(Lc s)
1 + Tf s
)
(20)
+K f (
1 + Tf s
C0 +C1 s +C2 s2
CPID (s) =
(21)
s
CF(s) = taylor(s(C(s) + F(s)), s, 0, 2)
(22)
C(s) + F(s) = Kc
C0
= coeff(CF(s), s, 0)
(23)
C1
= coeff(CF(s), s, 1)
(24)
C2
= coeff(CF(s), s, 2)
(25)
= C1
(26)
KC
TI
C1
C0
C2
C1
IV. SENSITIVITY COMPARISON
TD
TABLE I
S UMMARY OF PARAMETERS DESIGNED FOR P1 ,P2 , AND P3
(27)
(28)
Kf
Tf
K
T
L
Fig. 7 shows a general TDOF control system with reference signal r , disturbance d and noise n. Sensitivity
H(s)
C(s)
Fig. 7.
u +
+ +
P(s)
MD-PID
function S(s), Complementary sensitivity function T (s), Input sensitivity function CS(s) and Disturbance sensitivity
function DS(s) are expressed as (29), (30), (31), and (32),
respectively[14]. By comparing the sensitivity functions of
the MD-PID control system and the TDOF PID control
system, the TODF parameters , and can be designed.
1
1 + P(s)C(s)
P(s)C(s)H(s)
T (s) =
1 + P(s)C(s)
C(s)
CS(s) =
1 + P(s)C(s)
P(s)
PS(s) =
1 + P(s)C(s)
P3
2.45
11.131
0.1
0.69
9.296
6.111
TDOF PID
Kc
Tc
Lc
Kf
Tf
KC
TI
TD
P1
20.33
21.41
20.33
0.8
7.139
0.1
1
1
0.8
7.139
0.1
0.556
0
P2
34.64
21.85
34.64
0.4
7.204
0.1
1
1
0.4
7.204
0.1
0.5
0
AND
TDOF PID
P3
9.296
6.111
9.296
2.45
11.131
0.1
1
1
2.45
11.131
0.1
0.69
0
(29)
(30)
(31)
(32)
V. NUMERICAL EXAMPLES
We applyed the method to several processes. Some typical
examples; a first order delay system with dead time P1 (s), a
integral system with dead time P2 (s) and a unstable system
with dead time P3 (s) are shown at this section. Summary
parameters designed for PD loop for P1 , P2 , and P3 are shown
at TABLE I. And also the summary parameters for MD-PID
control systems and TDOF PID control systems for P1 , P2 ,
and P3 are shown at TABLE II.
P1 (s) =
exp(20s)
1 + 50s
(33)
P2 (s) =
exp(20s)
20s
(34)
exp(2s)
(11.7s 1)(1 + 11.9s)
(35)
P3 (s) =
P2
0.4
7.204
0.1
2.5
34.64
21.85
TABLE II
S UMMARY OF CONTROL PARAMETERS OF MD-PID
FOR P1 ,P2 , AND P3
S(s) =
P1
0.8
7.139
0.1
0.556
20.33
21.41
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Fig. 11.
Comparison of responses for P2 Upper:Step response, Middle:Gain, Lower: Phase, (Blue line:G(s) and Magenta line: the first order
delay system with dead time)
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R EFERENCES
Fig. 14.
Comparison of responses for P3 Upper:Step response, Middle:Gain, Lower: Phase, (Blue line:G(s) and Magenta line: the first order
delay system with dead time)
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